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release/4.3a0
Frank Dellaert 2024-09-30 14:42:33 -07:00
parent 78b47770c0
commit d054a041ed
3 changed files with 19 additions and 4 deletions
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2
gtsam/hybrid/HybridBayesNet.h
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@ -128,7 +128,7 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
* value assignment. Note this corresponds to the Gaussian posterior p(X|M=m) * value assignment. Note this corresponds to the Gaussian posterior p(X|M=m)
* of the continuous variables given the discrete assignment M=m. * of the continuous variables given the discrete assignment M=m.
* *
* @note Any pure discrete factors are ignored. * @note Be careful, as any factors not Gaussian are ignored.
* *
* @param assignment The discrete value assignment for the discrete keys. * @param assignment The discrete value assignment for the discrete keys.
* @return Gaussian posterior as a GaussianBayesNet * @return Gaussian posterior as a GaussianBayesNet

2
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -542,7 +542,7 @@ AlgebraicDecisionTree<Key> HybridGaussianFactorGraph::discretePosterior(
} }
/* ************************************************************************ */ /* ************************************************************************ */
GaussianFactorGraph HybridGaussianFactorGraph::operator()( GaussianFactorGraph HybridGaussianFactorGraph::choose(
const DiscreteValues &assignment) const { const DiscreteValues &assignment) const {
GaussianFactorGraph gfg; GaussianFactorGraph gfg;
for (auto &&f : *this) { for (auto &&f : *this) {

19
gtsam/hybrid/HybridGaussianFactorGraph.h
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@ -230,8 +230,23 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
eliminate(const Ordering& keys) const; eliminate(const Ordering& keys) const;
/// @} /// @}
/// Get the GaussianFactorGraph at a given discrete assignment. /**
GaussianFactorGraph operator()(const DiscreteValues& assignment) const; @brief Get the GaussianFactorGraph at a given discrete assignment. Note this
* corresponds to the Gaussian posterior p(X|M=m, Z=z) of the continuous
* variables X given the discrete assignment M=m and whatever measurements z
* where assumed in the creation of the factor Graph.
*
* @note Be careful, as any factors not Gaussian are ignored.
*
* @param assignment The discrete value assignment for the discrete keys.
* @return Gaussian factors as a GaussianFactorGraph
*/
GaussianFactorGraph choose(const DiscreteValues& assignment) const;
/// Syntactic sugar for choose
GaussianFactorGraph operator()(const DiscreteValues& assignment) const {
return choose(assignment);
}
}; };
// traits // traits